Work vehicle

Abstract

The present invention provides a work vehicle capable of suitably detecting a detection target.　Provided is a tractor 1 equipped with a plurality of radar units 50 capable of detecting a detection target in at least two directions around a vehicle body. The plurality of radar units 50 are disposed at the height of the roof 11 of the cabin of the vehicle body.

Description

Work vehicles

[0001] The present invention relates to work vehicle technology.

[0002] 2. Description of the Related Art Conventionally, technology for a work vehicle capable of detecting an object around the vehicle body has been publicly known, as described in, for example, Japanese Patent Application Laid-Open No. 2003-222999.

[0003] Patent Document 1 describes a work vehicle equipped with a road ridge identification unit that detects and identifies obstacles such as road ridges ahead of the vehicle body. The road ridge identification unit is composed of sensors such as a distance measurement sensor.

[0004] The distance measuring sensor described above detects obstacles by transmitting radio waves, such as millimeter waves, and receiving the radio waves reflected by the obstacle to be detected. However, depending on the location where the distance measuring sensor is installed, it may be difficult to detect the obstacle.

[0005] JP 2023-078903 A

[0006] One aspect of the present disclosure has been made in consideration of the above-described circumstances, and the problem to be solved is to provide a work vehicle that can suitably detect a detection target.

[0007] The problem to be solved by one embodiment of the present disclosure has been described above, and next, the means for solving this problem will be described.

[0008] A work vehicle according to one aspect of the present disclosure includes a cabin having a roof, and at least one detector disposed at the height of the roof and capable of detecting a detection target around the vehicle body. According to one aspect of the present disclosure, the detection target can be detected in an optimal manner.

[0009] According to an aspect of the present disclosure, the detection unit includes a forward detection unit capable of detecting an area ahead of the vehicle body. According to an aspect of the present disclosure, detection of a detection target ahead of the vehicle body can be suitably performed.

[0010] According to an aspect of the present disclosure, the detection unit includes a rear detection unit capable of detecting an area behind the vehicle body. According to an aspect of the present disclosure, detection of a detection target behind the vehicle body can be suitably performed.

[0011] According to one aspect of the present disclosure, the detection unit includes a side detection unit capable of detecting at least one of the left and right sides of the vehicle body. According to one aspect of the present disclosure, detection of a detection target on the left or right side of the vehicle body can be suitably performed.

[0012] According to an aspect of the present disclosure, a plurality of the detection units are provided, and thus detection in a plurality of directions can be suitably performed.

[0013] A work vehicle according to one aspect of the present disclosure includes a plurality of imaging units disposed at the height of the roof and capable of imaging the surroundings of the vehicle body. According to one aspect of the present disclosure, imaging can be preferably performed using the imaging units.

[0014] A work vehicle according to one aspect of the present disclosure includes a support member that is disposed on the outer periphery of the roof and that is capable of supporting the detection unit and the imaging unit. According to one aspect of the present disclosure, the support member can be used to arrange multiple detection units and multiple imaging units on the outer periphery of the roof.

[0015] The roof according to one aspect of the present disclosure has a top portion, and the detection unit is disposed so that its upper surface is located below the top portion. According to one aspect of the present disclosure, the work vehicle can be made more compact in the vertical direction, making it easier to store and transport the work vehicle in a garage or the like.

[0016] According to one aspect of the present disclosure, the detection unit is a radar unit capable of detecting the detection target by irradiating radio waves, and the support member includes a front support member disposed in front of the roof, the front support member supporting the radar unit and the imaging unit. According to one aspect of the present disclosure, detection and imaging using radio waves can be suitably performed in the front of the vehicle body.

[0017] According to one aspect of the present disclosure, a work vehicle includes a position detection device that can detect the position of the vehicle body and is supported by the front support member, and the radar unit is disposed so that its upper surface is located below the position detection device. According to one aspect of the present disclosure, the work vehicle can be made more compact in the vertical direction, making it easier to store and transport the work vehicle in a garage or the like.

[0018] The support member according to one aspect of the present disclosure includes side support members disposed on the sides of the roof, and is provided with connecting portions that connect the front support member and the side support member to each other. According to one aspect of the present disclosure, members that can support a detection unit and an imaging unit at the front and sides of the vehicle body can be suitably connected to each other.

[0019] According to one aspect of the present disclosure, a recess is formed on the outer periphery of the roof, recessed toward the center of the roof in a plan view, and the plurality of detection units and the plurality of image capture units include the detection units and the image capture units arranged adjacent to each other so as to be located inside the recess. According to one aspect of the present disclosure, the detection units and the image capture units arranged on the outer periphery of the roof can be made less noticeable.

[0020] According to one aspect of the present disclosure, the support member includes a cover portion that covers the detection portion and the imaging portion from above, the cover portion includes a side wall that is formed so as not to be positioned within the angle of view of the imaging portion, and the detection portion covered by the cover portion is arranged along the side wall. According to one aspect of the present disclosure, while the detection portion is arranged near the imaging portion, it is possible to prevent the detection portion from being positioned within the angle of view of the imaging portion.

[0021] According to one aspect of the present disclosure, one of the plurality of detection units and the plurality of image capturing units is disposed on at least each of the four sides of the roof in a plan view so as to be able to detect or capture images in front of, behind, and on both sides of the vehicle body, and the other of the plurality of detection units and the plurality of image capturing units is disposed on at least each of the four corners of the roof in a plan view so as to be able to detect or capture images in front of, behind, and on both sides of the vehicle body. According to one aspect of the present disclosure, the plurality of detection units and the plurality of image capturing units can be disposed in positions that prevent them from being located in each other's image capturing range and detection range.

[0022] According to one aspect of the present disclosure, one of the plurality of detection units and the plurality of image capturing units is disposed on each of the four sides and four corners of the roof in a plan view, thereby reducing blind spots in the detection range of the detection unit or the image capturing range of the image capturing unit.

[0023] According to one aspect of the present disclosure, it is possible to preferably detect a detection target.

[0024] 1 is a side view showing the overall configuration of a tractor according to a first embodiment of the present disclosure. FIG. 2 is a perspective view showing the roof of the cabin. FIG. 3 is a plan view showing the roof. FIG. 4 is a side view showing the roof. FIG. 5 is an exploded perspective view showing a position detection device, a camera, a radar unit, a camera support portion, a radar support portion, a front support member, a rear support member, and a side support member. FIG. 6 is an exploded perspective view showing a position detection device, a front camera, a front camera support portion, and a front support member. FIG. 7 is an exploded perspective view showing a rear camera and a rear camera support portion. FIG. 8 is a perspective view showing a left side camera and a side camera support portion. FIG. 9 is an exploded perspective view showing a front radar unit, a front radar support portion, and a front support member. FIG. 10 is an exploded perspective view showing a rear radar unit, a rear radar support portion, and a rear support member. FIG. 11 is a rear perspective view showing a rear portion of the roof. FIG. 12 is an enlarged side view showing a side portion of the roof of a tractor according to a second embodiment of the present disclosure. (a) A plan view showing a front camera, a front radar unit, a front radar support portion, and a front support member of a tractor according to a third embodiment of the present disclosure. (b) A side view showing a front camera, a front radar unit, a front radar support portion, and a front support member. 10A and 10B are plan views showing a roof of a tractor according to a fourth embodiment of the present disclosure, and a plan view showing a roof of a tractor according to a fifth embodiment of the present disclosure.

[0025] In the following description, the directions indicated by arrows U, D, F, B, L, and R in the figures are defined as upward, downward, forward, backward, leftward, and rightward, respectively.

[0026] First, the overall configuration of a tractor 1 according to one aspect of the present disclosure will be described.

[0027] The tractor 1 shown in FIG. 1 mainly comprises a machine frame 2, an engine 3, a hood 4, a transmission case 5, front wheels 6, rear wheels 7, fenders 8, a lifting device 9, a cabin 10, a seat 20, a steering wheel 21, and the like.

[0028] The body frame 2 is a frame-shaped member formed by appropriately combining a plurality of plate materials. The body frame 2 is formed in a generally rectangular shape when viewed from above. The body frame 2 is disposed at the front of the tractor 1 with its longitudinal direction facing the front-to-rear direction. An engine 3 is fixed to the rear of the body frame 2. The engine 3 is covered by a hood 4. A transmission case 5 is fixed to the rear of the engine 3. A muffler 4a that discharges exhaust gas from the engine 3 is disposed on the right side of the hood 4.

[0029] The front portion of the vehicle frame 2 is supported by a pair of left and right front wheels 6 via a front axle mechanism (not shown). The rear portion of the transmission case 5 is supported by a pair of left and right rear wheels 7 via a rear axle mechanism (not shown). The pair of left and right rear wheels 7 are generally covered from above by fenders 8.

[0030] A lifting device 9 is provided at the rear of the transmission case 5. Various types of implements (e.g., a tiller) can be attached to the lifting device 9. The lifting device 9 can raise and lower the attached implements using an actuator such as a hydraulic cylinder. Power from the engine 3 can be transmitted to the implements attached to the lifting device 9 via a PTO shaft (not shown).

[0031] The power of the engine 3 is changed in speed by a transmission (not shown) housed in a transmission case 5, and then can be transmitted to front wheels 6 via the front axle mechanism, and to rear wheels 7 via the rear axle mechanism. The front wheels 6 and rear wheels 7 are driven to rotate by the power of the engine 3, allowing the tractor 1 to travel. The power of the engine 3 can also be used to drive a work device attached to the lifting device 9.

[0032] A cabin 10 is provided behind the engine 3. The cabin 10 is mounted on the vehicle body (transmission case 5, etc.). A living space for a driver is formed inside the cabin 10. As shown in FIG. 1 , a seat 20 for the driver to sit on is disposed approximately in the center of the cabin 10. The cabin 10 is provided with an auxiliary step 20a for getting on and off the seat 20. A steering wheel 21 for adjusting the turning angle of the front wheels 6 is disposed in front of the cabin 10.

[0033] The cabin 10 is provided with a roof 11 that forms a ceiling (roof). The roof 11 is formed in a generally rectangular shape in a plan view (see FIG. 3 ). The cabin 10 includes front pillars 12 that support the front portion of the roof 11, rear pillars 13 that support the rear portion of the roof 11, and a central pillar 14 that supports a generally central portion (middle portion) of the roof 11 in the longitudinal direction. Each of the pillars is provided so as to be located on both the left and right sides of the cabin 10. The cabin 10 also includes a front beam 15 that connects the upper ends of the left and right front pillars 12, a rear beam 16 that connects the upper ends of the left and right rear pillars 13 and the left and right central pillars 14, and a side beam 17 that connects the upper ends of the front pillars 12 and the central pillars 14. The side beams 17 are provided so as to be located on both the left and right sides of the cabin 10.

[0034] The roof 11, the pillars, and the beams are formed to have a hollow shape. Wiring connected to devices (such as a position detection device 30, a camera 40, and a radar unit 50, which will be described later) provided on the tractor 1 can be inserted through the internal spaces of the roof 11, the pillars, and the beams.

[0035] The tractor 1 according to this embodiment also includes a position detection device 30, a camera 40, a radar unit 50, a camera support section 100, a radar support section 200, a front support member 300, a rear support member 400, and side support members 500.

[0036] The position detection device 30 shown in Fig. 6 is a device capable of detecting the position of the vehicle body (position information including latitude and longitude) using a satellite positioning system (GNSS) such as GPS, various sensors, etc. The position detection device 30 has appropriate receiving means for receiving satellite signals transmitted from satellites. The position detection device 30 is attached to an attachment target (a front support member 300, described later) disposed in front of the roof 11 of the cabin 10. The arrangement of the position detection device 30 will be described in detail later.

[0037] The cameras 40 shown in FIGS. 1 to 3 are capable of capturing images of the area around the vehicle body. The tractor 1 can control the operation of the vehicle body based on images captured by the cameras 40. For example, the tractor 1 can learn the appearance of a person based on the images captured by the cameras, and when a person is detected approaching the tractor 1 from the image capture results of each camera, the tractor 1 can be controlled to stop. Note that the uses of each camera are not limited to this, and the captured images can be used for various purposes. The angle θ of the field of view (viewing angle) of the camera 40 can be, for example, 190° (see FIG. 13(a)). Note that the angle θ is not limited to the above value, and various values ​​can be used.

[0038] A plurality of cameras 40 are arranged around the roof 11 so as to be able to capture images of the front, rear, left, and right sides of the vehicle body. Hereinafter, the camera 40 arranged in front of the roof 11 so as to be able to capture images of the front of the vehicle body will be referred to as the "front camera 40F." The cameras 40 arranged on both the left and right sides of the roof 11 so as to be able to capture images of the left and right sides of the vehicle body will be referred to as the "left side camera 40L" and the "right side camera 40R," respectively. The camera 40 arranged behind the roof 11 so as to be able to capture images of the rear of the vehicle body will be referred to as the "rear camera 40B." The rear cameras 40B are arranged in pairs with a gap between them in the left-right direction. In this way, in this embodiment, five cameras 40 are arranged around the roof 11. The installation manner of each camera 40 will be described in detail later.

[0039] The radar unit 50 shown in Figures 1 to 3 is capable of detecting targets around the vehicle body using radio waves (e.g., millimeter waves). Examples of the targets include structures made of metal or concrete, other vehicles, and people. The radar unit 50 is equipped with a sensor (e.g., a millimeter wave sensor) that detects the target by emitting radio waves and receiving radio waves reflected by the target.

[0040] A plurality of radar units 50 are arranged around the roof 11 so as to be able to detect targets on the front, rear, left, and right sides of the vehicle body. Hereinafter, the radar unit 50 arranged in front of the roof 11 so as to be able to detect targets in front of the vehicle body will be referred to as the "forward radar unit 50F." A pair of forward radar units 50F are arranged with a gap between them in the left-right direction. Furthermore, the radar units 50 arranged on both the left and right sides of the roof 11 so as to be able to detect targets on the left and right sides of the vehicle body will be referred to as the "left side radar unit 50L" and the "right side radar unit 50R," respectively. Furthermore, the radar unit 50 arranged behind the roof 11 so as to be able to detect targets behind the vehicle body will be referred to as the "rear radar unit 50B." Thus, in this embodiment, five radar units 50 are arranged around the roof 11. The installation manner of each radar unit 50 will be described in detail later.

[0041] The position detection device 30, camera 40, and radar unit 50 are communicably connected via wiring to an appropriate control device capable of controlling the travel of the tractor 1. The control device can detect vehicle position information based on the GNSS signals received by the position detection device 30. The control device can also execute control to automatically drive the tractor 1 (control of automatic driving) based on the position information, images captured by the camera 40, and detection results from the radar unit 50. The automatic driving control includes, for example, control to automatically steer the vehicle so that it travels straight and parallel to a set predetermined travel reference line, control to automatically drive the vehicle along a created target travel route, and control to automatically stop or slow down the vehicle upon detecting obstacles around the vehicle.

[0042] 4 to 6 is attached to an attachment target around the roof 11 and supports the camera 40. The attachment target and attachment manner of the camera support unit 100 will be described later. The camera support unit 100 includes a front camera support unit 110, a rear camera support unit 120, and a side camera support unit 130.

[0043] The front camera support part 110 shown in Fig. 6 supports the front camera 40F. In this embodiment, the front camera support part 110 is attached to the upper surface of a plate-shaped attachment object (a support plate 330, described later) disposed in front of the roof 11. The front camera support part 110 includes a fixing part 111 and a support shaft 112.

[0044] The fixing portion 111 is a portion that can be fixed to an attachment object. The fixing portion 111 is fixed using a fastener such as a bolt. The fixing portion 111 is formed so that a pair of left and right side walls extend upward. A support shaft 112 is provided on the left and right side walls of the fixing portion 111, with its axis facing left and right. The support shaft 112 can be formed, for example, by a bolt.

[0045] 6, the front camera 40F is disposed between a pair of side walls of the fixed portion 111 and is supported by a support shaft 112. The front camera 40F is supported so as to be rotatable up and down about the support shaft 112, for example, by loosening a bolt on the support shaft 112. The vertical angle of the front camera 40F can be adjusted by tightening the bolt while the front camera 40F is oriented at any angle.

[0046] The rear camera support part 120 shown in FIGS. 5 and 7 supports the rear camera 40B. In this embodiment, the rear camera support part 120 is attached to a round bar-shaped mounting target (the rear part of a lateral support stay 510, described later) located behind the roof 11 and supports the rear camera 40B in a suspended manner. A pair of rear camera support parts 120 are provided with a space between them in the left-right direction so as to support the left and right rear cameras 40B, respectively (see FIG. 5). The pair of rear camera support parts 120 are formed approximately symmetrically. The following describes the configuration of the left rear camera support part 120, focusing on the left rear camera support part 120. The rear camera support part 120 includes a clamp 121, a fixing part 122, a horizontally rotating part 123, a first support shaft 124, and a second support shaft 125.

[0047] 7 is a part that is attached to an attachment target. The clamp 121 is attached to the attachment target, which has a round bar shape, by sandwiching the attachment target between upper and lower divided members.

[0048] The fixed portion 122 is a portion that is fixed to the underside of the clamp 121. The fixed portion 122 is formed in a generally plate-like shape with its plate surface facing up and down. The fixed portion 122 is formed with an axial hole 122a that passes through the fixed portion 122 from top to bottom. The fixed portion 122 also has a guide hole 122b that passes through the fixed portion 122 from top to bottom and is formed in an arc shape with the axial hole 122a as its center.

[0049] The horizontally rotating portion 123 supports the rear camera 40B and is horizontally rotatable relative to the fixed portion 122. The horizontally rotating portion 123 has a pair of left and right side walls extending downward. The horizontally rotating portion 123 is inserted into the shaft hole 122a of the fixed portion 122 and connected to the fixed portion 122 via a first support shaft 124 whose axis extends vertically. The first support shaft 124 may be formed, for example, by a bolt. The horizontally rotating portion 123 is provided with a member such as a bolt that is inserted into the guide hole 122b. The pair of side walls of the horizontally rotating portion 123 are provided with a second support shaft 125 whose axis extends horizontally. The second support shaft 125 may be formed, for example, by a bolt. The rear camera 40B (left rear camera 40B) is disposed between the pair of side walls of the horizontally rotating portion 123 and supported by the second support shaft 125.

[0050] By loosening the bolt of the first support shaft 124, the horizontal rotation part 123 is supported so as to be rotatable around the first support shaft 124 along the guide hole part 122b. By tightening the bolt with the horizontal rotation part 123 oriented at any angle, the horizontal angle of the rear camera 40B can be adjusted. Furthermore, by loosening the bolt of the second support shaft 125, the rear camera 40B is supported so as to be rotatable up and down around the second support shaft 125. By tightening the bolt with the rear camera 40B oriented at any angle, the vertical angle of the rear camera 40B can be adjusted. In this way, the rear camera 40B is supported so that its angles can be adjusted in the horizontal and vertical directions around two axes.

[0051] The above has described the left rear camera support part 120. The right rear camera support part 120 is formed in substantially the same manner as the above-described left rear camera support part 120, and supports the right rear camera 40B so that the angles in the horizontal and vertical directions are adjustable.

[0052] The side camera support parts 130 shown in Figures 4 and 8 support the left side camera 40L and the right side camera 40R, respectively. A pair of side camera support parts 130 are provided, one on each side of the roof 11. The pair of side camera support parts 130 are formed approximately symmetrically. The side camera support parts 130 are attached to attachment targets (upper ends of center pillars 14, described below) located on the sides of the roof 11. The following describes the configuration of the side camera support parts 130, focusing on the left side camera support part 130 that supports the left side camera 40L. The side camera support part 130 includes a support stay 131, a fixing part 132, and a support shaft 133.

[0053] The support stay 131 is a portion that is fixed to the center pillar 14. The support stay 131 is formed so as to extend diagonally forward and upward from the side of the center pillar 14. The front end portion of the support stay 131 is formed in a generally plate shape with the plate surface facing up and down.

[0054] The fixed portion 132 is a portion that is fixed to the support stay 131. The fixed portion 132 is fixed to the underside of the front end portion of the support stay 131 using fasteners such as bolts. The fixed portion 132 is formed so that a pair of front and rear side walls extend downward. A support shaft 133 is provided on the front and rear side walls of the fixed portion 132, with its axis facing forward and backward. The support shaft 133 can be formed, for example, by a bolt or the like.

[0055] As shown in Fig. 8, the left side camera 40L is disposed between a pair of side walls of the fixed portion 132 and is supported by a support shaft 133. The left side camera 40L is supported so as to be rotatable up and down about the support shaft 133, for example, by loosening a bolt on the support shaft 133. The vertical angle of the left side camera 40L can be adjusted by tightening the bolt with the left side camera 40L facing at any angle.

[0056] The above has described the left side camera support part 130. The right side camera support part 130 is formed in substantially the same manner as the above-described left side camera support part 130, and supports the right side camera 40R so that the angle in the vertical direction can be adjusted.

[0057] 5, 9, and 10 is attached to an attachment target around the roof 11 and supports the radar unit 50. The attachment target and attachment manner of the radar support part 200 will be described later. The radar support part 200 includes a front radar support part 210, a rear radar support part 220, and a side radar support part 230.

[0058] The forward radar support portion 210 shown in FIGS. 5 and 9 supports the forward radar unit 50F. In this embodiment, the forward radar support portion 210 is attached to a round-bar-shaped mounting target (a forward support stay 310, described later) disposed in front of the roof 11 and supports the forward radar unit 50F in a suspended manner. A pair of forward radar support portions 210 are provided spaced apart in the left-right direction so as to support the left and right forward radar units 50F, respectively (see FIG. 5 ). The pair of left and right forward radar units 50F are disposed so as to be located on both left and right sides of the front camera support portion 110 (the front camera 40F). The pair of forward radar support portions 210 are formed approximately symmetrically. The following describes the configuration of the left forward radar support portion 210, focusing on the left forward radar support portion 210. The forward radar support portion 210 includes a fixed portion 211, a horizontally rotating portion 212, and a vertically rotating portion 213.

[0059] The fixing portion 211 shown in FIG. 9 is a portion that can be fixed to an attachment target. The fixing portion 211 is fixed to the attachment target by, for example, welding. The fixing portion 211 is formed in a generally plate shape with the plate surface facing up and down. The fixing portion 211 is also formed in a shape that is elongated in the left-right direction. The fixing portion 211 has a hole 211a that penetrates the fixing portion 211 from top to bottom. In this embodiment, the hole 211a is formed in the shape of an elongated hole that extends in the left-right direction.

[0060] The horizontally rotating part 212 is connected to the fixed part 211 so as to be movable left and right and rotatable horizontally. The horizontally rotating part 212 is provided on the underside of the fixed part 211. The horizontally rotating part 212 is formed so that a pair of left and right side walls extend downward. The horizontally rotating part 212 is inserted into a hole 211a of the fixed part 211 and is connected to the fixed part 211 via a first support shaft 212a whose axial direction faces up and down. The first support shaft 212a can be formed, for example, by a bolt or the like.

[0061] The vertical rotation part 213 is fixed to the forward radar unit 50F and is connected to the horizontal rotation part 212 so as to be vertically rotatable. The vertical rotation part 213 is appropriately fixed to the rear surface of the forward radar unit 50F (the surface opposite to the surface that irradiates radio waves). The vertical rotation part 213 is formed so that a pair of left and right side walls extend rearward. The pair of side walls of the vertical rotation part 213 are connected to the pair of side walls of the horizontal rotation part 212 via second support shafts 213a. The second support shafts 213a can be formed, for example, by bolts or the like.

[0062] The horizontal rotation part 212 is supported so that it can move left and right along the elongated hole 211a and can rotate around the first support shaft 212a by loosening the bolt of the first support shaft 212a. By tightening the bolt with the horizontal rotation part 212 facing any left or right position and any angle, the left and right position and horizontal angle of the forward radar unit 50F (the left forward radar unit 50F) can be adjusted.

[0063] Furthermore, the vertical rotation part 213 is supported so as to be rotatable up and down about the second support shaft 213a by loosening the bolt of the second support shaft 213a. The vertical angle of the forward radar unit 50F can be adjusted by tightening the bolt while the forward radar unit 50F is oriented at any angle. In this way, the forward radar unit 50F is supported so that its angles can be adjusted in the horizontal and vertical directions about two axes.

[0064] The above has described the left-side forward radar support part 210. The right-side forward radar support part 210 is formed in substantially the same manner as the above-described left-side forward radar support part 210, and supports the right-side forward radar unit 50F so that its angles in the horizontal and vertical directions are adjustable. Note that, in the above example, the hole 211a of the fixing part 211 is formed in an elongated hole shape, but it is also possible to form the hole 211a in a circular hole shape.

[0065] 5 and 10 supports the rear radar unit 50B. In this embodiment, the rear radar support part 220 is attached to a round bar-shaped attachment target (a rear support stay 410, described later) located on the rear side of the roof 11. The rear radar support part 220 includes a fixed part 221 and a vertically rotating part 222.

[0066] The fixing portion 221 is a portion that can be fixed to an attachment target, and is fixed to the attachment target by, for example, welding.

[0067] The vertically rotating part 222 is fixed to the rear radar unit 50B and is connected to the fixed part 221 so as to be vertically rotatable. The vertically rotating part 222 is appropriately fixed to the rear surface of the rear radar unit 50B. The vertically rotating part 222 is formed so that a pair of left and right side walls extend downward.

[0068] 10 , a pair of side walls of the vertically rotating part 222 are arranged so that the fixed part 221 is located between the pair of side walls, and are connected to the fixed part 221 via a support shaft 222a. The vertically rotating part 222 is supported so as to be rotatable up and down about the support shaft 222a by loosening a bolt of the support shaft 222a. The vertical angle of the rear radar unit 50B can be adjusted by tightening the bolt with the rear radar unit 50B facing at any angle.

[0069] The side radar support portions 230 shown in FIG. 5 support the left side radar unit 50L and the right side radar unit 50R, respectively. A pair of side radar support portions 230 are provided, one on each of the left and right sides of the roof 11. The pair of side radar support portions 230 are formed approximately symmetrically. In this embodiment, the pair of side radar support portions 230 are attached to round bar-shaped attachment targets (side support stays 510, described later) located on each of the left and right sides of the roof 11. Below, the configuration of the side radar support portion 230 will be described, focusing on the right side radar support portion 230 that supports the right side radar unit 50R.

[0070] The side radar support part 230 connects the right side radar unit 50R to an object to which it is attached so that the horizontal and vertical angles of the right side radar unit 50R can be adjusted. The side radar support part 230 according to this embodiment connects the right side radar unit 50R to an object to which it is attached using a ball joint so that the angle of the right side radar unit 50R can be adjusted. The left side radar support part 230 is formed in substantially the same manner as the right side radar support part 230 described above, and supports the left side radar unit 50L so that the horizontal and vertical angles can be adjusted.

[0071] The above-described devices of the tractor 1 (position detection device 30, camera 40 (camera support portion 100), and radar unit 50 (radar support portion 200)) are provided so as to be positioned around (outer periphery) of the roof 11 via the front support member 300, rear support member 400, and side support member 500. As shown in FIG. 3 , in this embodiment, the front support member 300, rear support member 400, and side support member 500 are arranged so as to surround substantially the entire periphery of the roof 11 in a plan view (see FIGS. 2 and 3 ). Below, the configurations of the front support member 300, rear support member 400, and side support member 500, and the mounting manner of each device will be described.

[0072] The front support member 300 shown in Figures 2 to 6 is capable of supporting equipment and the like of the tractor 1 in front of the roof 11. The front support member 300 according to this embodiment supports the position detection device 30, the front camera 40F (front camera support portion 110), and the front radar unit 50F (front radar support portion 210). Note that the front radar unit 50F and the front radar support portion 210 are not shown in Figure 6. As shown in Figure 2, the front support member 300 is disposed across the left and right front pillars 12. The front support member 300 includes a front support stay 310, a fixing member 320, a support plate 330, and a unit cover 340.

[0073] The front support stay 310 shown in Figures 5 and 6 is the main structure of the front support member 300. The front support stay 310 is formed from a member (e.g., a hollow round bar) that is long in the left-right direction. The front support stay 310 is formed into an appropriately curved shape depending on the shape of the front portion of the roof 11 and the members surrounding the front portion of the roof 11. Both left and right ends of the front support stay 310 are formed to extend downward. Furthermore, the front support stay 310 is divided into left and right halves and is formed from two members that are symmetrical to each other.

[0074] 2 and 6 are fixed to the front pillars 12 and are attached to both left and right ends of the front support stay 310. The fixing members 320 are fixed to the upper ends of the left and right front pillars 12 using fasteners such as bolts. The left and right fixing members 320 are also fixed to both left and right ends of the front support stay 310 using fasteners such as bolts.

[0075] The support plate 330 shown in Fig. 6 supports the position detection device 30 and the front camera support part 110. The support plate 330 is formed in a generally plate shape with the plate surface facing up and down. The support plate 330 is formed so that the front portion is tapered in a plan view (a shape in which the width from side to side gradually decreases toward the front). The position detection device 30 is attached to the center in the left-right direction on the top surface of the support plate 330.

[0076] The left-right central portions of the front support stay 310 (ends of the left and right divided parts) are fixed by welding or the like to the left and right portions of the upper surface of the support plate 330. Furthermore, the fixing portion 111 of the front camera support part 110 is fixed to the upper surface of the support plate 330 in front of the position detection device 30. In this way, in this embodiment, the support plate 330 is used as the attachment target for the front camera support part 110.

[0077] The unit cover 340 shown in Figures 3 and 5 covers the support plate 330 from above. The unit cover 340 is formed in a generally box-like shape that opens downward. In a plan view, the unit cover 340 is formed in a shape that corresponds to the support plate 330. The unit cover 340 is fixed to the upper surface of the support plate 330 using fasteners such as bolts. The unit cover 340 configured as described above covers the position detection device 30, the front camera 40F, and the front camera support part 110 that are provided on the upper surface of the support plate 330. Note that an opening is formed at the front end of the unit cover 340 so as to expose the front camera 40F.

[0078] 5 and 9, in this embodiment, the front support stay 310 is used as the mounting target for the front radar support part 210. As shown in Figures 3 and 5, in this embodiment, the left and right front radar support parts 210 are provided so that the left and right front radar units 50F are located on the left and right sides of the unit cover 340, respectively.

[0079] In this embodiment, the left and right forward radar units 50F and the front camera 40F are spaced apart from each other laterally and are positioned rearward of the front camera 40F so that the left and right forward radar units 50F are not positioned within the angle of view of the front camera 40F. In addition, in this embodiment, an example is shown in which the left and right forward radar units 50F are tilted outward in the left and right directions from the front in a plan view by a predetermined angle (approximately 45 degrees in the illustrated example) so that other components such as the unit cover 340 are not positioned within the detection range of the left and right forward radar units 50F. By arranging the front camera 40F and the front radar unit 50F as described above, it is possible to prevent other components from being positioned within the imaging range of the front camera 40F and the detection range of the front radar unit 50F.

[0080] The rear support member 400 shown in Figures 5, 10, and 11 is capable of supporting equipment and the like of the tractor 1 behind the roof 11. The rear support member 400 according to this embodiment supports the rear radar unit 50B (rear radar support portion 220). The rear support member 400 is fixed to the rear portion of the rear beam 16. The rear support member 400 includes a rear support stay 410 and a stay fixing portion 420.

[0081] The rear support stay 410 is the main structural element of the rear support member 400. The rear support stay 410 is formed by a member that is long in the left-right direction (for example, a hollow round bar).

[0082] The stay fixing portion 420 is a portion that is fixed to the rear portion of the rear beam 16. The stay fixing portion 420 is provided on each of both left and right end portions of the rear support stay 410.

[0083] In this embodiment, the rear support stay 410 is used as the mounting target for the rear radar support portion 220. As shown in Fig. 11 , the rear radar unit 50B supported by the rear radar support portion 220 is located in a recess 11a that is formed in the center of the rear part of the roof 11 in the left-right direction and recessed forward.

[0084] 2 to 5 are capable of supporting equipment and the like of the tractor 1 on both the left and right sides of the roof 11. The side support members 500 according to this embodiment support the left side radar unit 50L and the right side radar unit 50R (side radar support portions 230), and the rear camera 40B (rear camera support portion 120).

[0085] The side support member 500 is disposed so as to span the front support member 300 and the rear support member 400. A pair of side support members 500 are provided, one on each side of the roof 11. The pair of side support members 500 are formed roughly symmetrically. The following describes the configuration of the side support member 500, focusing on the left side support member 500. The side support member 500 includes a side support stay 510, a front fixing portion 520, and a rear fixing portion 530.

[0086] The side support stay 510 shown in Figure 5 is the main structure of the side support member 500. The side support stay 510 is formed of a long member (for example, a hollow round bar) that fits along the side of the roof 11. The side support stay 510 is formed into an appropriately curved shape according to the shape of the side of the roof 11, etc.

[0087] The front fixing portion 520 is a portion of the front support member 300 that is fixed to the front support stay 310. The front fixing portion 520 is provided at the front end of the side support stay 510. The front fixing portion 520 is fixed to the left end (outer end in the left-right direction) of the front support stay 310 using a fastener such as a bolt. When the front fixing portion 520 is fixed to the front support stay 310, the front support stay 310 and the side support stay 510 are connected to each other.

[0088] The rear fixing portion 530 is a portion of the rear support member 400 that is fixed to the rear support stay 410. The rear fixing portion 530 is provided at the rear end of the rear support stay 410. The rear fixing portion 530 is fixed to the left end (outer end in the left-right direction) of the rear support stay 410 using a fastener such as a bolt. When the rear fixing portion 530 is fixed to the rear support stay 410, the rear support stay 410 and the side support stay 510 are connected to each other.

[0089] The above has been a description of the left side support member 500. The right side support member 500 is also formed in substantially the same manner as the left side support member 500 described above.

[0090] In this embodiment, the side support stays 510 are used as mounting targets for the side radar support parts 230 and the rear camera support part 120. As shown in Figures 2 and 3 , in this embodiment, the left and right side radar support parts 230 are mounted to the side support stays 510 so that the left side radar unit 50L and the right side radar unit 50R are positioned approximately in the center of the sides of the roof 11 in the fore-and-aft direction.

[0091] 3 and 5, in this embodiment, the left and right rear camera support parts 120 are attached to the side support stays 510 so that the left and right rear cameras 40B are located on both the left and right sides of the rear radar unit 50B at the rear of the roof 11. More specifically, the rear camera support parts 120 are attached to portions of the side support stays 510 near the rear fixing parts 530.

[0092] In this embodiment, the rear radar unit 50B and the left and right rear cameras 40B are spaced apart from each other so that they are not positioned within each other's imaging range and detection range.

[0093] In this embodiment, the side camera support part 130 is attached to the upper end of the central pillar 14. As shown in Fig. 4, in this embodiment, the side camera support part 130 is attached to the upper end of the central pillar 14 so that the left side camera 40L (right side camera 40R) is located approximately in the center in the front-to-rear direction of the side of the roof 11. The left side camera 40L (right side camera 40R) supported by the side camera support part 130 is located in a recess 11b that is recessed toward the center in the left-to-right direction at the center in the front-to-rear direction of the side of the roof 11.

[0094] 4, in this embodiment, the left side camera 40L (right side camera 40R) and the left side radar unit 50L (right side radar unit 50R) are both disposed approximately in the center in the fore-and-aft direction on the side of the roof 11. The left side camera 40L (right side camera 40R) and the left side radar unit 50L (right side radar unit 50R) are disposed adjacent to each other in the fore-and-aft direction.

[0095] In this embodiment, the left side radar unit 50L (right side radar unit 50R) is positioned closer to the center in the left-right direction than the left side camera 40L (right side camera 40R) so that the left side radar unit 50L (right side radar unit 50R) is not positioned within the angle of view of the left side camera 40L (right side camera 40R).

[0096] The above has described the mounting manner of each device (position detection device 30, camera 40 (camera support portion 100), and radar unit 50 (radar support portion 200)) of the tractor 1. According to the above configuration, each camera 40 can be positioned so as to be able to capture images of approximately the entire circumference (front, back, left, and right) of the vehicle body, and each radar unit 50 can be positioned so as to be able to detect approximately the entire circumference of the vehicle body.

[0097] In addition, in this embodiment, the camera support portion 100 and the radar support portion 200 are used to position the cameras 40 and the radar units 50 at the height of the roof 11. More specifically, the height of at least a portion of each camera 40 and each radar unit 50 is aligned with the height of the roof 11 (i.e., at least a portion of each camera 40 and each radar unit 50 overlaps with the roof 11 when viewed horizontally) (see FIGS. 2 and 4 ). This prevents the cameras 40 and each radar unit 50 from detecting (capturing) unintended objects, such as plants and trees, unlike when the cameras 40 and each radar unit 50 are positioned at a relatively low position (e.g., at the height of the hood 4). Furthermore, according to this embodiment, the blind spots in the detection range during turning can be reduced, unlike when the forward radar unit 50F is installed in front of the hood 4.

[0098] Furthermore, in the present embodiment, at least one of the radar units 50 is disposed so as to be positioned below the roof 11 within a range that coincides with the height position of the roof 11. Specifically, in the present embodiment, the upper surfaces of the forward radar unit 50F and the rear radar unit 50B are disposed so as to be positioned below the top (highest part) of the roof 11 (see FIG. 4 ). By disposing the forward radar unit 50F and the rear radar unit 50B as described above, the height of the radar units 50 at the front and rear of the roof 11 can be reduced. As a result, for example, when loading or unloading the tractor 1 into or from a container on the bed of a transport equipment, if the tractor 1 is tilted so that the front or rear of the roof 11 is higher and stored in the container, the radar units 50 at the front and rear of the roof 11 can be prevented from contacting the ceiling of the container.

[0099] At least one of the left side radar unit 50L and the right side radar unit 50R may also be disposed so that its upper surface is located below the highest point of the roof 11. If the upper surfaces of all radar units 50 are located below the highest point of the roof 11, the tractor 1 can be made more compact in the vertical direction. This makes it easier to store and transport the tractor 1 in a garage or the like.

[0100] In addition, in this embodiment, at least one of the radar units 50 is arranged so as to be located lower than the detection device 30 and the unit cover 340. Specifically, in this embodiment, the front radar unit 50F and the rear radar unit 50B are arranged so that their upper surfaces are located lower than the upper surface of the detection device 30 and the upper surface of the unit cover 340 (see FIG. 4). The upper surfaces of the detection device 30 and the unit cover 340 are located lower than the top of the roof 11. In addition, at least one of the left side radar unit 50L and the right side radar unit 50R may also be arranged so that its upper surface is located lower than the upper surface of the detection device 30 and the upper surface of the unit cover 340. In addition, at least one of the radar units 50 may be arranged so that its upper surface is located lower than the lower surface of the position detection device 30 and the lower surface of the unit cover 340.

[0101] The height position of each radar unit 50 is not limited to the above example. For example, at least one of the radar units 50 may be disposed so as to be positioned higher than the roof 11, the position detection device 30, and the unit cover 340, within a range that matches the height position of the roof 11. For example, in the present embodiment, an example is shown in which the upper surface of at least one of the radar units 50 (in the present embodiment, the left side radar unit 50L and the right side radar unit 50R) is disposed so as to be positioned higher than the top of the roof 11, the upper surface of the position detection device 30, and the upper surface of the unit cover 340. Furthermore, the lower surface of at least one of the radar units 50 may be disposed so as to be higher than the upper surface of the position detection device 30 and the upper surface of the unit cover 340.

[0102] Furthermore, at least one upper surface or lower surface of each radar unit 50 may be disposed so as to be located at approximately the same height as the top of the roof 11, the upper surface of the position detection device 30, or the upper surface of the unit cover 340, or at least one upper surface or lower surface of each radar unit 50 may be disposed so as to be located at approximately the same height as the lowest part of the roof 11, the lower surface of the position detection device 30, or the lower surface of the unit cover 340. In addition, various height positions can be adopted for the height position of each radar unit 50 as long as they match the height position of the roof 11.

[0103] The tractor 1 according to the first embodiment of the present disclosure has been described above. The mounting manner of the camera 40 (camera support portion 100) and the radar unit 50 (radar support portion 200) is not limited to the above-described example, and various mounting manners can be adopted. Below, other embodiments (second to fifth embodiments) will be described using Figures 12 to 15. Note that below, configurations that differ from the first embodiment will be described, and descriptions of configurations that are similar to the first embodiment will be omitted as appropriate.

[0104] First, a tractor 1A according to the second embodiment will be described with reference to FIG. 12 . The tractor 1A differs from the first embodiment in the configuration of the side support members 500A. In the side support members 500A, the rear ends of the side support stays 510 are fixed to the upper ends of the center pillars 14, not to the rear support stays 410. That is, in the second embodiment, the rear support stays 410 do not extend to the rear side of the vehicle body (toward the rear support stays 410), but rather extend toward the center of the vehicle body in the longitudinal direction. This configuration allows the rear support stays 410 to be formed in a relatively short shape, thereby suppressing deflection of the rear support stays 410.

[0105] In this embodiment, the left side camera 40L and the right side camera 40R are attached to the side support stay 510 via a side camera support part 130A. Note that Fig. 12 shows the side camera support part 130A in schematic form. The side camera support part 130A can be configured in various ways that can be attached to a round rod-shaped attachment target, such as the rear camera support part 120 shown in Fig. 7.

[0106] In this embodiment, the recess 11b of the roof 11 is enlarged to extend in the front-to-rear direction, and both the left side camera 40L (right side camera 40R) and the left side radar unit 50L (right side radar unit 50R) are positioned within the recess 11b. This configuration makes it possible to make the radar unit 50 located on the side of the roof 11 less noticeable. This configuration also protects the camera 40 and radar unit 50 from rain, flying dust, and contact with branches and trees.

[0107] In addition, in this embodiment, the left side radar unit 50L (right side radar unit 50R) is disposed so that the upper surface thereof is located below the top of the roof 11. According to the above configuration, the tractor 1 can be made more compact in the vertical direction, making it easier to store and transport the tractor 1 in a garage or the like.

[0108] In the example described above, the left side camera 40L (right side camera 40R) attached to the lateral support stay 510 using the lateral camera support part 130A is positioned within the recess 11b. However, it is also possible to adopt a configuration in which the left side camera 40L (right side camera 40R) attached to the central pillar 14 using the lateral camera support part 130 shown in Figures 4 and 8 is positioned within the recess 11b.

[0109] In the above example, the camera 40 and the radar unit 50 are arranged adjacent to each other in the common recess 11b, but the present invention is not limited to this. For example, a configuration may be adopted in which a plurality of recesses 11b corresponding to the cameras 40 and the radar units 50 are formed, and the cameras 40 and the radar units 50 are arranged independently in each recess 11b. Also, a configuration in which only one of the camera 40 and the radar unit 50 (for example, only the radar unit 50) is arranged in the recess 11b, or a configuration in which neither the camera 40 nor the radar unit 50 is arranged in the recess 11b, may be adopted.

[0110] Next, a tractor 1B according to a third embodiment will be described with reference to Fig. 13. The tractor 1B differs from the first embodiment in the configuration of a forward radar support part 210A. The forward radar support part 210A supports the forward radar unit 50F so that it is located inside the unit cover 340. Note that Fig. 13 schematically illustrates the forward radar support part 210A.

[0111] In this embodiment, the forward radar support part 210A is attached to the upper surface of the support plate 330. As the configuration of the forward radar support part 210A, various configurations that can be attached to a plate-shaped attachment target, such as the forward camera support part 110 shown in FIG.

[0112] 13(a), the front surface (surface that emits radio waves) of the forward radar unit 50F is disposed along a surface (inclined surface) that is inclined so as to face diagonally forward in the side wall of the unit cover 340. Also, in the present embodiment, as shown in FIG. 13(b), an opening 341 that can expose the forward radar unit 50F is formed in the side wall of the unit cover 340 that forms the inclined surface.

[0113] According to this embodiment, the forward radar unit 50F can be disposed relatively forward. This prevents components (e.g., muffler 4a, work lights, etc.) in front of the roof 11 from being positioned within the detection range of the forward radar unit 50F. The inclined surface of the unit cover 340 is formed so as not to be positioned within the angle of view of the camera 40, as indicated by the two-dot chain line in FIG. 13( a). By disposing the forward radar unit 50F along the inclined surface, the forward radar unit 50F can be disposed forward (near the forward camera 40F) while preventing the forward radar unit 50F from being positioned within the angle of view of the camera 40. Furthermore, according to the above configuration, covering the forward radar unit 50F with the unit cover 340 makes the forward radar unit 50F less noticeable. Furthermore, according to the above configuration, the forward radar unit 50F can be protected from rain, flying dust, and contact with branches and trees.

[0114] Next, other embodiments (fourth and fifth embodiments) in which the arrangement of the cameras 40 and the radar units 50 is changed will be described using Figures 14 and 15. Note that in Figures 14 and 15, the cameras 40 and the radar units 50 are shown schematically, and the cameras 40 are shaded. Also, in each figure, the camera support portion 100 and the radar support portion 200 are not shown. First, a tractor 1C according to the fourth embodiment will be described using Figure 14.

[0115] The tractor 1C has one radar unit 50 disposed on each of the four sides (front, rear, left, and right) of the roof 11 in a plan view. Each radar unit 50 is disposed approximately in the center of the four sides of the roof 11 in a plan view. In this embodiment, the front radar unit 50F is disposed approximately in the center in the left-right direction of the front support member (the position where the front camera 40F is disposed in the first embodiment). The other radar units 50 except for the front radar unit 50F are disposed in the same manner as in the first embodiment.

[0116] In this embodiment, one camera 40 is disposed at each of the four corners of the roof 11 in a plan view. The cameras 40 are attached to support members (front support member 300, rear support member 400, and side support member 500) that surround the periphery of the roof 11. Specifically, the cameras 40 disposed at the front corners (front right corner and front left corner) are attached to both left and right ends of the front support stay 310 of the front support member 300. The cameras 40 disposed at the rear corners (rear right corner and rear left corner) are attached to portions of the side support stay 510 of the side support member 500 that are located at the rear right corner and rear left corner of the roof 11. The cameras 40 are attached to the stays using, for example, the rear camera support portion 120 shown in FIG. 7 .

[0117] The support members to which the cameras 40 are attached at the four corners are not limited to the above-mentioned examples. For example, the cameras 40 located at the front corners may be attached to the front portions of the lateral support stays 510. Furthermore, the cameras 40 located at the rear corners may be attached to both left and right ends of the rear support member 400.

[0118] When the cameras 40 and the radar units 50 are arranged as described above, the cameras 40 and the radar units 50 are spaced apart from each other, thereby preventing the cameras 40 and the radar units 50 from being positioned within each other's imaging range and detection range. Furthermore, with the above configuration, the number of cameras 40 and the radar units 50 can be relatively small while still enabling imaging and detection of the entire circumference (front, rear, left, and right) of the vehicle body.

[0119] In the above example, it is also possible to reverse the installation positions of the cameras 40 and the radar units 50. That is, it is also possible to arrange the cameras 40 on the four sides of the roof 11 in a plan view, and arrange the radar units 50 at the four corners of the roof 11 in a plan view.

[0120] Next, a tractor 1D according to a fifth embodiment will be described with reference to Fig. 15. In addition to the arrangement of the tractor 1C shown in Fig. 14, the tractor 1D has radar units 50 arranged at the four corners of the roof 11 in a plan view. That is, in this embodiment, the cameras 40 and the radar units 50 are arranged at the four corners of the roof 11 in a plan view.

[0121] The radar units 50 at the four corners are attached to substantially the same attachment targets (the stays of the front support member 300 and the side support member 500) as the cameras 40 at the four corners, using, for example, the front radar support portion 210 shown in FIG. 9 or the side radar support portion 230 shown in FIG. 5. The cameras 40 and the radar units 50 at the four corners are arranged adjacent to each other. The radar units 50 can be arranged closer to the center of the tractor 1 than the cameras 40 adjacent to each other so as not to be located within the angle of view of the adjacent cameras 40. According to the configuration of this embodiment, by increasing the number of radar units 50, it is possible to reduce blind spots in the detection range of the radar units 50.

[0122] As described above, the tractors 1 to 1D (work vehicles) according to the present embodiment include a cabin 10 having a roof 11, and at least one radar unit 50 (detection unit) that is disposed at the height of the roof 11 and is capable of detecting targets around the vehicle body. This configuration allows for optimal detection of targets. That is, unlike when the radar unit 50 is disposed in a relatively low position (for example, at the height of the hood 4), it is possible to prevent the radar unit 50 from detecting unintended targets, such as vegetation.

[0123] The radar unit 50 also includes a forward radar unit 50F (forward detection unit) capable of detecting the area ahead of the vehicle body. This configuration allows for suitable detection of an object ahead of the vehicle body.

[0124] The radar unit 50 also includes a rear radar unit 50B (rear detection unit) capable of detecting the area behind the vehicle body. This configuration allows for suitable detection of an object behind the vehicle body.

[0125] The radar unit 50 also includes a side detection section (left side radar unit 50L, right side radar unit 50R) that can detect at least one of the left and right sides of the vehicle body. This configuration allows for optimal detection of targets on the left or right side of the vehicle body.

[0126] Furthermore, a plurality of radar units 50 are provided, and this configuration makes it possible to suitably perform detection in a plurality of directions.

[0127] Furthermore, the tractors 1 to 1D are equipped with a plurality of cameras 40 (imaging units) that are disposed at the height of the roof 11 and are capable of capturing images of the periphery of the vehicle body. This configuration allows for suitable imaging using the cameras 40. That is, unlike when the cameras 40 are disposed at a relatively low position, it is possible to prevent unintended objects from being captured.

[0128] Furthermore, the tractors 1 to 1D are provided with support members (front support member 300, rear support member 400, and side support member 500) that are disposed on the outer periphery of the roof 11 and are capable of supporting the radar unit 50 and the camera 40. With this configuration, a plurality of radar units 50 and a plurality of cameras 40 can be disposed on the outer periphery of the roof 11 using the support members (front support member 300, rear support member 400, and side support member 500).

[0129] The roof 11 has a top, and the radar unit 50 is disposed so that its upper surface is located below the top. This configuration allows the tractor 1 to be made more compact in the vertical direction, making it easier to store and transport the tractor 1 in a garage or the like.

[0130] The detection unit is a radar unit 50 that can detect the detection target by emitting radio waves, and the support member includes a front support member 300 that is disposed in front of the roof 11, and the front support member 300 supports the radar unit 50 and the camera 40. With this configuration, detection and imaging using radio waves can be suitably performed in front of the vehicle body.

[0131] Furthermore, the tractors 1 to 1D are equipped with a position detection device 30 that can detect the position of the vehicle body and is supported by the front support member 300, and the radar unit 50 is disposed so that its upper surface is located lower than the position detection device 30. By configuring the tractor 1 in this manner, it is possible to make the tractor 1 more compact in the vertical direction, making it easier to store and transport the tractor 1 in a garage or the like.

[0132] The support members include side support members 500 disposed on the sides of the roof 11, and are provided with fixing portions 520 (connecting portions) that connect the front support member 300 and the side support member 500. By configuring in this manner, it is possible to suitably connect members that can support the radar unit 50 and the camera 40 at the front and sides of the vehicle body.

[0133] Furthermore, a recess 11b is formed on the outer periphery (side) of the roof 11, recessed toward the center of the roof 11 in a plan view, and the multiple radar units 50 and multiple cameras 40 include the radar units 50 (left side radar unit 50L, right side radar unit 50R) and the cameras 40 (left side camera 40L, right side camera 40R) arranged adjacent to each other so as to be located inside the recess 11b. By configuring in this manner, the radar units 50 and cameras 40 arranged on the outer periphery of the roof 11 can be made less noticeable.

[0134] Furthermore, the support member (front support member 300) includes a unit cover 340 (cover portion) that covers the radar unit 50 (front radar unit 50F) and the camera 40 (front camera 40F) from above, the unit cover 340 includes side walls that are formed so as not to be positioned within the angle of view of the front camera 40F, and the front radar unit 50F covered by the unit cover 340 is disposed so as to follow the side walls. With this configuration, it is possible to prevent the front radar unit 50F from being positioned within the angle of view of the camera 40, while disposing the front radar unit 50F in the vicinity (front side) of the front camera 40F.

[0135] Furthermore, one of the plurality of radar units 50 and the plurality of cameras 40 is disposed at least on each of the four sides of the roof 11 in a plan view so as to be able to detect or capture images in front of, behind, and on both the left and right sides of the vehicle body, and the other of the plurality of radar units 50 and the plurality of cameras 40 is disposed at least on each of the four corners of the roof 11 in a plan view so as to be able to detect or capture images in front of, behind, and on both the left and right sides of the vehicle body. By configuring in this way, the plurality of radar units 50 and the plurality of cameras 40 can be disposed in positions that prevent them from being located within each other's imaging range and detection range.

[0136] In addition, one of the plurality of radar units 50 and the plurality of cameras 40 is disposed on each of the four sides and four corners in a plan view of the roof 11. By configuring in this manner, it is possible to reduce blind spots in the detection range of the radar unit 50 or the imaging range of the camera 40.

[0137] The tractor 1 according to this embodiment is one embodiment of a work vehicle according to the present invention. The camera 40 according to this embodiment is one embodiment of an imaging unit according to the present invention. The forward radar unit 50F according to this embodiment is one embodiment of a forward detection unit according to the present invention. The rearward radar unit 50B according to this embodiment is one embodiment of a rearward detection unit according to the present invention. The left side radar unit 50L and the right side radar unit 50R according to this embodiment are one embodiment of a side detection unit according to the present invention. The radar unit 50 according to this embodiment is one embodiment of a detection unit according to the present invention. The front support member 300, the rear support member 400, and the side support member 500 according to this embodiment are one embodiment of a support member according to the present invention. The unit cover 340 according to this embodiment is one embodiment of a cover unit according to the present invention. The fixing portion 520 according to this embodiment is one embodiment of a connecting portion according to the present invention.

[0138] Although the embodiments of the present invention have been described above, the present invention is not limited to the above configurations, and various modifications are possible within the scope of the invention described in the claims.

[0139] Specifically, the arrangement of the camera 40 and the radar unit 50 is not limited to the examples shown in the above-described embodiments (first to fifth embodiments). For example, in the fifth embodiment shown in Fig. 15, any of the radar units 50 arranged on the four sides (front, rear, left, and right) of the roof 11 in a plan view may be omitted.

[0140] In addition, in each of the above embodiments, an example is shown in which a plurality of cameras 40 and a plurality of radar units 50 are provided so as to enable imaging and detection of the entire circumference (front, rear, left, and right) of the vehicle body, but this is not limited to such an embodiment. For example, at least one camera 40 and one radar unit 50 may be provided so as to enable imaging and detection of any of the front, rear, left, and right of the vehicle body.

[0141] Furthermore, the arrangement and number of the cameras 40 and radar units 50 are not limited to the specific positions and numbers shown in the above-described embodiments. In addition to the examples described above, the arrangement and number of the cameras 40 and radar units 50 can be changed as appropriate from the positions of the cameras 40 and radar units 50 shown in the embodiments, and the number can be set (increased or decreased) as appropriate depending on the content of automatic control of the tractor 1.

[0142] Furthermore, the orientations (horizontal and vertical angles) of the camera 40 and the radar unit 50 are not limited to the examples shown in the above embodiments. For example, in the third embodiment shown in Fig. 13, the front surface of the forward radar unit 50F is disposed diagonally forward along the inclined surface of the unit cover 340, but a configuration in which the front surface of the forward radar unit 50F is disposed facing forward (forward) can also be adopted. In addition, various orientations can be set for the orientations of the cameras 40 and the radar units 50 from the viewpoint of optimally capturing and detecting images around the vehicle body.

[0143] The height position of each radar unit 50 is not limited to the examples shown in the above-described embodiments. For example, at least one of the multiple radar units 50 may be disposed at the height position of the roof 11, and the other radar units 50 may be disposed outside the range of the height position of the roof 11 and below the roof 11 (so that the upper surface of each radar unit 50 is located below the lowest part of the roof 11). Furthermore, the other radar units 50 may be disposed outside the range of the height position of the roof 11 and above the roof 11 (so that the lower surface of each radar unit 50 is located above the highest part of the roof 11).

[0144] Furthermore, the height position of each camera 40 is not limited to the examples shown in the above embodiments. For example, at least one of the cameras 40 may be disposed outside the range of the height position of the roof 11, so as to be positioned below the roof 11 (so that the upper surface of the camera 40 is positioned below the lowest part of the roof 11), or so as to be positioned above the roof 11 (so that the lower surface of the camera 40 is positioned above the highest part of the roof 11).

[0145] In addition, in each of the above embodiments, an example has been shown in which the cabin 10 is configured to include the front pillars 12, the rear pillars 13, and the center pillar 14 (six-pillar configuration), but the present invention is not limited to this. The cabin 10 can be configured in various ways, such as a configuration without the center pillar 14 (four-pillar configuration).

[0146] Furthermore, the configurations of the camera support portion 100 and the radar support portion 200 shown in the above embodiments are just examples, and the materials for arranging each camera 40 and each radar unit 50 around the roof 11 are not limited to the above-mentioned examples, and various materials can be used.

[0147] Furthermore, the configurations of the support members (front support member 300, rear support member 400, and side support member 500) shown in the above embodiments are just examples, and the attachment targets for the camera support unit 100 and the radar support unit 200 are not limited to the above-mentioned examples, and various members can be used.

[0148] In addition, in each of the above embodiments, the radar unit 50 that performs detection using radio waves is used as the detection unit, but the present invention is not limited to this. As the detection unit, various devices that can detect targets around the vehicle body, such as an ultrasonic sensor, can be used.

[0149] Furthermore, the shapes, structures, etc. of the various parts exemplified in the above embodiment are merely examples, and the configuration of each part can be changed as desired.

[0150] In the above embodiment, the tractor 1 is used as an example of the work vehicle, but the work vehicle is not limited to this. For example, the work vehicle may be an agricultural vehicle, a construction vehicle, an industrial vehicle, or the like.

[0151] The present invention can be applied to a work vehicle.

[0152] REFERENCE SIGNS LIST 1 Tractor 40 Camera 50 Radar unit 100 Camera support part 200 Radar support part 300 Front support member 400 Rear support member 500 Side support member

Claims

1. A work vehicle comprising a cabin having a roof, and at least one detection unit disposed at the height of the roof and capable of detecting detection targets around the vehicle body.

2. The work vehicle according to claim 1, wherein the detection unit includes a front detection unit capable of detecting the front of the vehicle body.

3. The work vehicle according to claim 1, wherein the detection unit includes a rear detection unit capable of detecting the rear of the vehicle body.

4. The work vehicle according to claim 1, wherein the detection unit includes a side detection unit capable of detecting at least one of the left side and the right side of the vehicle body.

5. The work vehicle according to any one of claims 1 to 4, wherein a plurality of the detection units are provided.

6. The work vehicle according to claim 5, further comprising a plurality of imaging units disposed at the height of the roof and capable of imaging the periphery of the vehicle body.

7. The work vehicle according to claim 6, further comprising a support member disposed on the outer periphery of the roof and capable of supporting the detection unit and the imaging unit.

8. The work vehicle according to claim 1, wherein the roof has a topmost portion, and the detection unit is disposed such that the upper surface is positioned below the topmost portion.

9. The detection unit is a radar unit capable of detecting the detection target by irradiating radio waves. The support member includes a front support member disposed in front of the roof. The front support member supports the radar unit and the imaging unit. The work vehicle according to claim 7.

10. The work vehicle according to claim 9, further comprising a position detection device capable of detecting the position of the vehicle body and supported by the front support member. The radar unit is disposed such that the upper surface is positioned below the position detection device.

11. The work vehicle according to claim 9, wherein the support member includes a side support member disposed on the side of the roof, and a connecting portion that connects the front support member and the side support member to each other.

12. A recess that is recessed toward the center side of the roof in plan view is formed in the outer peripheral portion of the roof. The plurality of detection units and the plurality of imaging units include the detection units and the imaging units that are arranged adjacent to each other so as to be located inside the recess. The work vehicle according to claim 6.

13. The support member includes a cover portion that covers the detection portion and the imaging portion from above. The cover portion includes side walls formed so as not to be located within the angle of view of the imaging portion. The detection portion covered by the cover portion is arranged along the side walls. The work vehicle according to claim 7.

14. One of the plurality of detection portions and the plurality of imaging portions is arranged at each of at least the four sides in the plan view of the roof so as to enable detection or imaging of the front, rear, left, and right sides of the vehicle body. The other of the plurality of detection portions and the plurality of imaging portions is arranged at each of at least the four corners in the plan view of the roof so as to enable detection or imaging of the front, rear, left, and right sides of the vehicle body. The work vehicle according to claim 6.

15. One of the plurality of detection portions and the plurality of imaging portions is arranged at both the four sides and the four corners in the plan view of the roof. The work vehicle according to claim 14.

Images